Novel base structure of double-shaft harmonic robot

Abstract

The novel base structure of the double-shaft harmonic robot comprises a U-shaped base plate, a first-stage swing arm structure and a second-stage swing arm structure, a supporting panel is arranged on the bottom face of the U-shaped base plate, and a base plate angle adjusting structure is arranged on the U-shaped base plate; a circular through hole is formed in the middle of a transverse plate of the U-shaped base plate, and an arc-shaped groove is formed in the edge of the transverse plate of the U-shaped base plate. A circular positioning convex column is arranged in the center of the top surface of the supporting panel, and a plurality of kidney-shaped sliding grooves are formed in the edge of the supporting panel; the U-shaped chassis is connected to the supporting panel through a rated torque screw; the bottom of the chassis angle adjusting structure penetrates through the arc-shaped groove and is connected with the supporting panel. According to the utility model, the structural arrangement is reasonable, the support angle adjustment of the U-shaped chassis relative to the support panel can be realized, the angle adjustment is realized, the operation is convenient, the use requirements under different conditions can be met, the whole structural components are few, the processing cost is reduced, the disassembly, assembly and maintenance operations are convenient, and the use is stable and reliable.

Description

TECHNICAL FIELD

[0001] The utility model belongs to harmonic robot technical field, concretely relates to a novel base structure of double -shaft harmonic robot. BACKGROUND

[0002] The split independent harmonic robot includes base structure and robot body, and the robot body is adjusted in angle through the base structure, in the prior art, it is mainly adjusted through screw rod, and the operation convenience is limited, Chinese patent application number is: 202323072143.7, and the patent name is: a novel base structure of double -shaft harmonic robot, including base support, primary swing arm, secondary swing arm and threaded push -pull rod, it can satisfy the use demand of general situation although, but it can only realize the inclination angle adjustment, cannot realize the convenient azimuth angle adjustment, thereby the application range is limited to a certain extent, the applicant further improves on the basis of the above-mentioned technology to solve the above-mentioned technical defects. SUMMARY

[0003] The utility model aims at providing a novel base structure of double -shaft harmonic robot that is reasonable in structure and convenient to adjust.

[0004] The technical scheme for realizing the utility model is a novel base structure of double -shaft harmonic robot, including U-shaped bottom disc, primary swing arm structure and secondary swing arm structure, the bottom surface of U-shaped bottom disc is provided with support panel, and bottom disc angle adjusting structure is arranged on the U-shaped bottom disc.

[0005] The middle part of the horizontal plate of the U-shaped bottom disc is provided with a circular through hole, and the edge of the horizontal plate of the U-shaped bottom disc is provided with an arc-shaped groove.

[0006] The top surface center of the support panel is provided with a circular positioning convex column, and the edge of the support panel is provided with a plurality of waist-shaped sliding grooves.

[0007] The circular positioning convex column is rotatably arranged in the circular through hole, and the U-shaped bottom disc is connected to the support panel through the rated torque screw, and the rated torque screw is translatablely arranged in the waist-shaped sliding groove.

[0008] The bottom of the bottom disc angle adjusting structure passes through the arc-shaped groove and is connected with the support panel.

[0009] The bottom disc angle adjusting structure drives the support panel to rotate relative to the U-shaped bottom disc with the circular positioning convex column as the center, and the screw rod moves in the waist-shaped sliding groove.

[0010] Further preferably, the bottom disc angle adjusting structure includes an adjusting screw rod, an adjusting handle, a sliding block and a guide block.

[0011] The adjusting handle is fixed at the end of the adjusting screw rod, and the adjusting screw rod is rotatably arranged on the horizontal plate of the U-shaped base plate;

[0012] A strip-shaped guide groove is arranged on the horizontal plate of the U-shaped base plate, and a circular threaded hole is arranged on the top surface of the support panel;

[0013] The sliding block is threadedly connected to the adjusting screw rod, and the guide block is fixed to the bottom surface of the sliding block and located in the strip-shaped guide groove;

[0014] A C-shaped groove is arranged on the side surface of the sliding block, the rated torque screw is rotatably arranged in the C-shaped groove, and the rated torque screw passes through the arc-shaped groove and is rotatably arranged in the circular threaded hole at the bottom end;

[0015] The adjusting screw rod is rotated to drive the sliding block to translate in cooperation with the guide block, and the rated torque screw is translated in the arc-shaped groove.

[0016] Further preferably, the primary swing arm structure comprises a strip-shaped arm body, an upper shaft rod, a middle shaft rod, a lower shaft rod, a control block, a control screw rod and a control handle;

[0017] The upper shaft rod is arranged at the top of the strip-shaped arm body, and the upper shaft rod is rotatably connected to the upper part of the U-shaped base plate;

[0018] The middle shaft rod is rotatably connected to the middle part of the strip-shaped arm body and connected to the lower part of the primary swing arm structure;

[0019] The lower shaft rod is rotatably connected to the lower part of the strip-shaped arm body and connected to the control block;

[0020] The control screw rod is rotatably connected to the horizontal plate of the U-shaped base plate, the control handle is fixed at the end of the control screw rod, the control block is screw-connected to the control screw rod, and the control screw rod is rotated to drive the control block to translate.

[0021] Further preferably, a strip-shaped limiting groove is arranged on the bottom plate of the U-shaped base plate, the bottom surface of the control block is fixed with a limiting protrusion, and the limiting protrusion is translatably arranged in the strip-shaped limiting groove.

[0022] Further preferably, the secondary swing arm structure comprises a mounting disc, two half-circular support plates and a half-circular sliding groove;

[0023] The two half-circular support plates are respectively fixed to the bottom surface of the mounting disc at two diameters, and the half-circular sliding groove is arranged on one of the half-circular support plates;

[0024] The two half-circular support plates are located in the recessed area of the U-shaped base plate, the upper shaft rod is arranged at the center of the two half-circular support plates, and the middle part of the middle shaft rod is slidingly arranged in the half-circular sliding groove.

[0025] Further preferably, a plurality of positioning holes are arranged on the mounting disc.

[0026] Positioning screws are fixed at both ends of the upper shaft rod, the positioning screws pass through both ends of the upper shaft rod and are inserted into the positioning holes for positioning connection.

[0027] The upper shaft rod is fixed with the bar-shaped arm body through a locking screw.

[0028] The bar-shaped arm body drives the upper shaft rod to rotate together, and drives the semicircular supporting plate to rotate through the positioning screw and the positioning hole to realize angle adjustment of the mounting disc.

[0029] Further preferably, an installation channel for installation of the middle shaft rod is arranged on the semicircular supporting plate.

[0030] The utility model has the positive effect: the utility model discloses the structure is reasonable, is provided with the support panel on the bottom surface of U-shaped bottom disc, is provided with bottom disc angle adjusting structure on U-shaped bottom disc, and the bottom of bottom disc angle adjusting structure passes through arc groove and is connected with support panel;The above-mentioned structure can be used to realize the support angle adjustment of U-shaped bottom disc relative to support panel, and cooperates with primary swing arm structure and secondary swing arm structure, can realize angle adjustment, and the operation is convenient, can satisfy the use demand of different situations, and the overall structure component is few, is favorable for reducing processing cost, and is convenient for dismounting and maintaining operation, and the use is stable and reliable, and the applicability is strong and practicality is good. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to make the content of the utility model more easily be clearly understood, the utility model is further explained in detail below according to specific embodiment and in conjunction with drawings, wherein:

[0032] Figure 1 It is the structural schematic diagram of the utility model;

[0033] Figure 2 It is the structural schematic diagram of the utility model when removing U-shaped bottom disc;

[0034] Figure 3 It is the structural schematic diagram of the utility model when removing support panel;

[0035] Figure 4 It is the explosion structural schematic diagram of the utility model;

[0036] Figure 5 It is another view structure diagram of the utility model when exploding.

[0037] Figure: U-shaped chassis 1, primary swing arm structure 2, strip-shaped arm body 21, upper shaft 22, middle shaft 23, lower shaft 24, control block 25, control screw 26, control handle 27, secondary swing arm structure 3, mounting disc 31, semicircular support plate 32, semicircular sliding groove 33, support panel 4, chassis angle adjusting structure 5, adjusting screw 51, adjusting handle 52, sliding block 53, guide block 54, circular through hole 6, arc-shaped recess 7, circular positioning convex column 8, waist-shaped sliding groove 9, rated torque screw 10, strip-shaped guide groove 11, circular threaded hole 12, strip-shaped limiting groove 13, limiting protrusion 14, positioning hole 15, positioning screw 16, mounting channel 17, C-shaped recess 18. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. EMBODIMENT

[0039] As shown in Figures 1 to 5 The novel base structure of the double-shaft harmonic robot includes a U-shaped chassis 1, a primary swing arm structure 2, and a secondary swing arm structure 3. The bottom surface of the U-shaped chassis is provided with a support panel 4, and the U-shaped chassis is provided with a chassis angle adjusting structure 5. In this embodiment, the primary swing arm structure and the secondary swing arm structure are mainly used to realize angle adjusting operation, and the chassis angle adjusting structure can realize angle adjustment of the U-shaped chassis relative to the support panel, which is convenient to operate and can meet the use requirements in different situations.

[0040] And, in actual application process, the middle part of the horizontal plate of the U-shaped chassis is provided with a circular through hole 6, and the edge of the horizontal plate of the U-shaped chassis is provided with an arc-shaped groove 7; the center of the top surface of the support panel is provided with a circular positioning convex column 8, and the edge of the support panel is provided with a plurality of waist-shaped sliding grooves 9; in assembly, the circular positioning convex column is rotatably arranged in the circular through hole, the U-shaped chassis is connected on the support panel through rated torque screws 10, and the rated torque screws are translatably arranged in the waist-shaped sliding grooves; in connection, the bottom of the chassis angle adjusting structure passes through the arc-shaped groove and is connected with the support panel; in the chassis adjusting operation, the chassis angle adjusting structure acts, drives the support panel to rotate relative to the U-shaped chassis with the circular positioning convex column as the center, and the screw rod moves in the waist-shaped sliding groove. The diameter of the circular positioning convex column cooperates with that of the circular through hole, which is mainly used as the center point of the rotating angle adjustment of the chassis. The waist-shaped sliding groove cooperates with the rated torque screw, which is mainly used for angle adjustment guiding and limiting, so as to improve the stability and effectiveness of the angle adjustment.

[0041] In actual application process, the chassis angle adjusting structure includes an adjusting screw rod 51, an adjusting handle 52, a sliding block 53 and a guide block 54; the above structure can be a metal structure or a plastic structure, in assembly, the adjusting handle is fixed at the end of the adjusting screw rod, and the adjusting screw rod is rotatably arranged on the horizontal plate of the U-shaped chassis; the horizontal plate of the U-shaped chassis is provided with a strip-shaped guide groove 11, and the top surface of the support panel is provided with a circular threaded hole 12; in actual application process, the sliding block is threadedly connected on the adjusting screw rod, and the guide block is fixed on the bottom surface of the sliding block and located in the strip-shaped guide groove; and the side surface of the sliding block is provided with a C-shaped groove 18, the rated torque screw is rotatably arranged in the C-shaped groove, the rated torque screw passes through the arc-shaped groove and is rotatably arranged at the bottom end in the circular threaded hole; the adjusting screw rod rotates to drive the sliding block to translate with the guide block, and drives the rated torque screw to translate in the arc-shaped groove. The strip-shaped guide groove cooperates with the guide block to ensure the stability and reliability of the translation of the sliding block, and prevents inclination or deflection.

[0042] In practical application, the primary swing arm structure includes a strip-shaped arm body 21, an upper shaft 22, a middle shaft 23, a lower shaft 24, a control block 25, a control screw rod 26 and a control handle 27. The above structure can be a metal structure or a plastic structure. The control block is translated by the control screw rod, and the strip-shaped arm body is rotated. In assembly, the upper shaft is arranged at the top of the strip-shaped arm body, and the upper shaft is rotatably connected to the upper part of the U-shaped base plate. The middle shaft is rotatably connected to the middle part of the strip-shaped arm body and connected to the lower part of the primary swing arm structure. The lower shaft is rotatably connected to the lower part of the strip-shaped arm body and connected to the control block. The control screw rod is rotatably connected to the horizontal plate of the U-shaped base plate, and the control handle is fixed to the end of the control screw rod. The control block is screw-connected with the control screw rod, and the control screw rod rotates to drive the control block to translate.

[0043] In practical application, the bottom plate of the U-shaped base plate is provided with a strip-shaped limiting groove 13, and the bottom surface of the control block is fixed with a limiting protrusion 14, which is translatably arranged in the strip-shaped limiting groove. The strip-shaped guide groove and the guide block can ensure the stability and reliability of the translation of the sliding block, and prevent tilting or deviation.

[0044] Meanwhile, the secondary swing arm structure includes a mounting disc 31, two semicircular supporting plates 32 and a semicircular sliding groove 33. In assembly, the two semicircular supporting plates are fixed to the bottom surface of the mounting disc on the two sides of the diameter, and the semicircular sliding groove is arranged on one of the semicircular supporting plates. The two semicircular supporting plates are in the recessed area of the U-shaped base plate, the upper shaft is arranged at the center of the two semicircular supporting plates, and the middle part of the middle shaft is slidingly arranged in the semicircular sliding groove. Through the above structure, the angle range of 0-90 degrees can be adjusted, so that the double-shaft harmonic mechanism can realize the functions of equatorial telescope and theodolite, the angle range is improved, the operation is more convenient, the operation convenience and effectiveness can be improved by controlling the screw rod.

[0045] The mounting disc is provided with a plurality of positioning holes 15. The upper shaft is fixed with positioning screws 16 at both ends, the positioning screws pass through both ends of the upper shaft and are inserted into the positioning holes for positioning connection. The upper shaft and the strip-shaped arm body are fixed by locking screws. The strip-shaped arm body drives the upper shaft to rotate together, and drives the semicircular supporting plates to rotate together through the positioning screws and the positioning holes to realize the angle adjustment of the mounting disc. The semicircular supporting plates are provided with mounting channels 17 for mounting the middle shaft. The disassembly and connection operation of the middle shaft is facilitated.

[0046] The utility model has the positive effect: the utility model discloses reasonable structure setting, its bottom surface is provided with support panel in U-shaped bottom disc, is provided with bottom disc angle adjusting structure on U-shaped bottom disc, and the bottom of bottom disc angle adjusting structure passes through arc groove and is connected with support panel;The above structure can be used to realize the support angle adjustment of U-shaped bottom disc relative to support panel, and cooperate with primary swing arm structure and secondary swing arm structure, can realize angle adjustment, convenient operation can satisfy the use demand of different situations, and the overall structure component is few, is favorable for reducing processing cost, and convenient dismounting and maintenance operation, and stable and reliable use, and applicability is strong and practicality is good.

[0047] The standard parts used in the embodiment can be directly purchased from the market, and the non-standard structural parts according to the description can also be directly processed according to the existing technical knowledge without doubt, and the connection mode of each part adopts the mature conventional means in the existing technology, and the machinery, parts and equipment adopt the conventional type in the existing technology, so the specific description is not made here.

[0048] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not the limitation of the implementation mode of the utility model. For ordinary skilled in the art, other different forms of changes or changes can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the implementation modes. The obvious changes or changes extended from the essential spirit of the utility model still belong to the protection scope of the utility model.

Claims

1. A novel base structure for a dual-axis harmonic robot, comprising a U-shaped chassis, a primary swing arm structure, and a secondary swing arm structure, characterized in that: The bottom surface of the U-shaped chassis is provided with a support panel, and the U-shaped chassis is provided with a chassis angle adjustment structure; The U-shaped chassis has a circular through hole in the middle of the horizontal plate and an arc-shaped groove at the edge of the horizontal plate. A circular positioning protrusion is provided at the center of the top surface of the support panel, and several waist-shaped grooves are provided at the edge of the support panel. The circular positioning protrusion is rotatably disposed in the circular through hole, and the U-shaped chassis is connected to the support panel by a rated torque screw, and the rated torque screw is translatably disposed in the waist-shaped sliding groove. The bottom of the chassis angle adjustment structure passes through an arc-shaped groove and connects to the support panel; The chassis angle adjustment structure moves, causing the support panel to rotate relative to the U-shaped chassis with the circular positioning protrusion as the center, and the screw moves within the waist-shaped sliding groove.

2. The novel base structure for a dual-axis harmonic robot according to claim 1, characterized in that: The chassis angle adjustment structure includes an adjustment screw, an adjustment handle, a slider, and a guide block; The adjusting handle is fixed to the end of the adjusting screw, and the adjusting screw is rotatably mounted on the horizontal plate of the U-shaped chassis. The U-shaped chassis has a strip guide groove on its horizontal plate, and the top surface of the support panel has a circular threaded hole. The slider is threadedly connected to the adjusting screw, and the guide block is fixed to the bottom surface of the slider and is located in the strip guide groove; The slider has a C-shaped groove on its side, and the rated torque screw is rotatably disposed in the C-shaped groove. The rated torque screw passes through the arc-shaped groove and its bottom end is rotatably disposed in the circular threaded hole. The rotation of the adjusting screw drives the slider to move in conjunction with the guide block, and also drives the rated torque screw to move within the arc-shaped groove.

3. A novel base structure for a dual-axis harmonic robot according to claim 1 or claim 2, characterized in that: The primary swing arm structure includes a strip-shaped arm body, an upper shaft, a middle shaft, a lower shaft, a control block, a control screw, and a control handle; The upper shaft is located at the top of the strip-shaped arm and is rotatably connected to the upper part of the U-shaped chassis. The central shaft is rotatably connected to the middle of the strip arm and to the lower part of the primary swing arm structure; The lower shaft is rotatably connected to the lower part of the strip arm and connected to the control block; The control screw is rotatably connected to a U-shaped horizontal plate, and the control handle is fixed to the end of the control screw. The control block is helically connected to the control screw, and the rotation of the control screw causes the control block to move horizontally.

4. The novel base structure for a dual-axis harmonic robot according to claim 3, characterized in that: The bottom plate of the U-shaped chassis is provided with a strip-shaped limiting groove, and the bottom surface of the control block is fixed with a limiting protrusion, which can be laterally positioned within the strip-shaped limiting groove.

5. The novel base structure for a dual-axis harmonic robot according to claim 3, characterized in that: The secondary swing arm structure includes a mounting disc, two semi-circular support plates, and a semi-circular sliding groove. Two semi-circular support plates are fixed on both sides of the bottom diameter of the mounting disc, and the semi-circular groove is set on one of the semi-circular support plates. The two semi-circular support plates are located in the recessed area of ​​the U-shaped chassis, and the upper shaft is located at the center of the two semi-circular support plates, while the middle shaft is slidably located in the semi-circular groove.

6. The novel base structure for a dual-axis harmonic robot according to claim 5, characterized in that: The mounting disc is provided with a number of positioning holes; The upper shaft is fixed with positioning screws at both ends. The positioning screws pass through both ends of the upper shaft and are inserted into the positioning holes for positioning connection. The upper shaft and the strip arm are fixed together by locking screws; The strip-shaped arm rotates together with the upper shaft, and the semi-circular support plate rotates together with the positioning screw and positioning hole to achieve the angle adjustment of the mounting disc.

7. The novel base structure for a dual-axis harmonic robot according to claim 5, characterized in that: The semi-circular support plate is provided with an installation channel for mounting the central shaft.

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